Hi Nelson
Many thanks, I will try to put it together as a program.
On 27 July 2010 13:20, Nelson Goncalves <ngoncalves@...> wrote:
> Hi,
>
> What you want is, in general, not trivial or simple to accomplish.
> However there are known, simple solutions for your problem depending
> on the type of drive of your robot.
>
> Essentially, you want a function that has as inputs:
>  the position and orientation of the robot at time t, q(t)
>  position and orientation of where the robot must be at time t, p(t)
>
> The function will then compute the output of each actuator so that
> the error along the path is minimized: min \int_0^t (p(t)  q(t))
>
> \int_0^t is the integral of a function from 0 up to t.
>
> I am making this much simpler than it is, and it is not possible to
> write down a simple answer in the email without knowing more about
> your robot or your background in mobile robotics. Try searching on
> your local library (or the web) for "mobile robotic kinematics",
> "control systems" and "path following". Often you can find simple
> solutions for robots with tank like drives.
>
> As a final note, notice that you did not specify the orientation of
> the robot along the circular path. This may seem obvious for some
> types of drives, but an omnidirectional robot can be made to move
> along a circle *and* spin at the same time (like a ballet dancer).
>
> Also if you robot as a car like drive, then there is a lower bound on
> the radius of the circle it can execute. As you can see the problem
> is not trivial, even though it appears simple.
>
> Nelson Gon\c calves
>
> Em Tue, 27 Jul 2010 11:42:10 +0530
> Arkapravo Bhaumik <arkapravobhaumik@...> escreveu:
>
> > Hi everyone
> >
> > I want my robot to move around in a given trajectory. Say a Cartesian
> > (or Polar) curve is given and the robot executes a trajectory along
> > that curve. For example if my program inputs x^2 + y^2 = 4, then my
> > robot should move around the origin in a radius of 2 units.
> >
> > As of now, I do not have any clue as to how to put this to effect !
> > Any suggestions are welcome.
> >
> > Best regards
> >
> > Arkapravo
> >
>
>
> 
> Learning to eat soup with a knife
>
> 
> Nelson Gonçalves
> http://thinkingolivetree.blogspot.com/
>
>
>
